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<h1>mindsensors-hid.h</h1>  </div>
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<div class="contents">
<a href="mindsensors-hid_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup mindsensors</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup mshid HID Sensor</span>
<a name="l00004"></a>00004 <span class="comment"> * HID Sensor</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: mindsensors-hid.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 <span class="comment"></span>
<a name="l00012"></a>00012 <span class="comment">/** \file mindsensors-hid.h</span>
<a name="l00013"></a>00013 <span class="comment"> * \brief Mindsensors HID Sensor driver</span>
<a name="l00014"></a>00014 <span class="comment"> *</span>
<a name="l00015"></a>00015 <span class="comment"> * mindsensors-hid.h provides an API for the Mindsensors HID Sensor.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * Changelog:</span>
<a name="l00018"></a>00018 <span class="comment"> * - 0.1: Initial release</span>
<a name="l00019"></a>00019 <span class="comment"> * - 0.2: Allow I2C address to be specified as an optional argument\n</span>
<a name="l00020"></a>00020 <span class="comment"> *        Added prototypes</span>
<a name="l00021"></a>00021 <span class="comment"> *</span>
<a name="l00022"></a>00022 <span class="comment"> * Credits:</span>
<a name="l00023"></a>00023 <span class="comment"> * - Big thanks to Mindsensors for providing me with the hardware necessary to write and test this.</span>
<a name="l00024"></a>00024 <span class="comment"> *</span>
<a name="l00025"></a>00025 <span class="comment"> * License: You may use this code as you wish, provided you give credit where its due.</span>
<a name="l00026"></a>00026 <span class="comment"> *</span>
<a name="l00027"></a>00027 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<a name="l00028"></a>00028 <span class="comment"></span>
<a name="l00029"></a>00029 <span class="comment"> * \author Xander Soldaat (xander_at_botbench.com)</span>
<a name="l00030"></a>00030 <span class="comment"> * \date 18 December 2010</span>
<a name="l00031"></a>00031 <span class="comment"> * \version 0.2</span>
<a name="l00032"></a>00032 <span class="comment"> * \example mindsensors-hid-test1.c</span>
<a name="l00033"></a>00033 <span class="comment"> */</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="preprocessor">#pragma systemFile</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span>
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef __MSHID_H__</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define __MSHID_H__</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#ifndef __COMMON_H__</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#include &quot;<a class="code" href="common_8h.html" title="Commonly used functions used by drivers.">common.h</a>&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#endif</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span>
<a name="l00044"></a><a class="code" href="group__mshid.html#ga66b838237e62a395d059bebc5fdfe2f0">00044</a> <span class="preprocessor">#define MSHID_I2C_ADDR    0x04</span>
<a name="l00045"></a><a class="code" href="group__mshid.html#gaf37f009deb53a733e5b16ec65b146ed4">00045</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_CMD         0x41</span>
<a name="l00046"></a><a class="code" href="group__mshid.html#ga726f270396d84cc2a0dcea83cdafd58c">00046</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_KEYBMOD     0x42</span>
<a name="l00047"></a><a class="code" href="group__mshid.html#gaa358f6d31827b413791064ccda60f3b7">00047</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_KEYBDATA    0x43</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>
<a name="l00049"></a><a class="code" href="group__mshid.html#gaf515c73ab7fbc1b10d63e029cc007618">00049</a> <span class="preprocessor">#define MSHID_XMIT        0x54</span>
<a name="l00050"></a><a class="code" href="group__mshid.html#gad9585939709a8e02e0ba82b1d560fb7e">00050</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_ASCII       0x41</span>
<a name="l00051"></a><a class="code" href="group__mshid.html#ga25e63521abc54eaca70c7b94204b62a6">00051</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_DDATA       0x44</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span>
<a name="l00053"></a>00053 <span class="comment">// Keyboard modifyers</span>
<a name="l00054"></a><a class="code" href="group__mshid.html#ga34d9dcb4b949ae33f42cbb1c90b55057">00054</a> <span class="preprocessor">#define MSHID_MOD_NONE    0x00</span>
<a name="l00055"></a><a class="code" href="group__mshid.html#gafeb3d16203918d77a524c170bea80b53">00055</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_MOD_LCTRL   0x01</span>
<a name="l00056"></a><a class="code" href="group__mshid.html#gad2f829ab4fd88828907eb2fbac7e7ce0">00056</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_MOD_LSHIFT  0x02</span>
<a name="l00057"></a><a class="code" href="group__mshid.html#gaa59a665496fe2c3a93ad0a2625336d94">00057</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_MOD_LALT    0x04</span>
<a name="l00058"></a><a class="code" href="group__mshid.html#ga9c4acbf791c14947efc7a1cadddee71e">00058</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_MOD_LGUI    0x08</span>
<a name="l00059"></a><a class="code" href="group__mshid.html#ga0e518eee7f9e6b831dfbe980dae17458">00059</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_MOD_RCTRL   0x10</span>
<a name="l00060"></a><a class="code" href="group__mshid.html#gaac02dd179b1ad94f2ed79b80ca14e042">00060</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_MOD_RSHIFT  0x20</span>
<a name="l00061"></a><a class="code" href="group__mshid.html#gad19c5f5f3804f36fc4cfc670bb519431">00061</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_MOD_RALT    0x40</span>
<a name="l00062"></a><a class="code" href="group__mshid.html#gaf85537d0f43acf3ff6b4ea55a0c46abc">00062</a> <span class="preprocessor"></span><span class="preprocessor">#define MSHID_MOD_RGUI    0x80</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span>
<a name="l00064"></a>00064 <span class="keywordtype">bool</span> <a class="code" href="group__mshid.html#ga2d3259d4adcae2db488e16f094901ec3">MSHIDsendCommand</a>(tSensors link, byte command, ubyte address = <a class="code" href="group__mshid.html#ga66b838237e62a395d059bebc5fdfe2f0">MSHID_I2C_ADDR</a>);
<a name="l00065"></a>00065 <span class="keywordtype">bool</span> <a class="code" href="group__mshid.html#gab08f31e26bb6385ceb436170f2e30acf">MSHIDsendKeyboardData</a>(tSensors link, byte modifier, byte keybdata, ubyte address = <a class="code" href="group__mshid.html#ga66b838237e62a395d059bebc5fdfe2f0">MSHID_I2C_ADDR</a>);
<a name="l00066"></a>00066 <span class="keywordtype">bool</span> <a class="code" href="group__mshid.html#gae9af2d42a0ab943ac86d33d8fa2d7a54">MSHIDsendString</a>(tSensors link, <span class="keywordtype">string</span> data, ubyte address = <a class="code" href="group__mshid.html#ga66b838237e62a395d059bebc5fdfe2f0">MSHID_I2C_ADDR</a>);
<a name="l00067"></a>00067 
<a name="l00068"></a><a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">00068</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>;       <span class="comment">/*!&lt; Array to hold I2C command data */</span>
<a name="l00069"></a>00069 
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment">/**</span>
<a name="l00072"></a>00072 <span class="comment"> * Send a direct command to the HID sensor</span>
<a name="l00073"></a>00073 <span class="comment"> * @param link the HID port number</span>
<a name="l00074"></a>00074 <span class="comment"> * @param command the command to be sent</span>
<a name="l00075"></a>00075 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0x04</span>
<a name="l00076"></a>00076 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a><a class="code" href="group__mshid.html#ga2d3259d4adcae2db488e16f094901ec3">00078</a> <span class="keywordtype">bool</span> <a class="code" href="group__mshid.html#ga2d3259d4adcae2db488e16f094901ec3">MSHIDsendCommand</a>(tSensors link, byte command, ubyte address) {
<a name="l00079"></a>00079   memset(<a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00080"></a>00080   <a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>[0] = 3;
<a name="l00081"></a>00081   <a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>[1] = address;
<a name="l00082"></a>00082   <a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>[2] = <a class="code" href="group__mshid.html#gaf37f009deb53a733e5b16ec65b146ed4">MSHID_CMD</a>;
<a name="l00083"></a>00083   <a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>[3] = command;
<a name="l00084"></a>00084 
<a name="l00085"></a>00085   <span class="keywordflow">return</span> <a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>);
<a name="l00086"></a>00086 }
<a name="l00087"></a>00087 
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment">/**</span>
<a name="l00090"></a>00090 <span class="comment"> * Send keyboard data to the HID sensor.  Must be followed by a MSHID_XMIT</span>
<a name="l00091"></a>00091 <span class="comment"> * command using MSHIDsendCommand()</span>
<a name="l00092"></a>00092 <span class="comment"> * @param link the HID port number</span>
<a name="l00093"></a>00093 <span class="comment"> * @param modifier the keyboard modifier, like shift, control. Can be OR&#39;d together.</span>
<a name="l00094"></a>00094 <span class="comment"> * @param keybdata the keystroke to be sent to the computer</span>
<a name="l00095"></a>00095 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0x04</span>
<a name="l00096"></a>00096 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00097"></a>00097 <span class="comment"> */</span>
<a name="l00098"></a><a class="code" href="group__mshid.html#gab08f31e26bb6385ceb436170f2e30acf">00098</a> <span class="keywordtype">bool</span> <a class="code" href="group__mshid.html#gab08f31e26bb6385ceb436170f2e30acf">MSHIDsendKeyboardData</a>(tSensors link, byte modifier, byte keybdata, ubyte address) {
<a name="l00099"></a>00099   memset(<a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>, 0, <span class="keyword">sizeof</span>(<a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a>));
<a name="l00100"></a>00100   <a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>[0] = 4;
<a name="l00101"></a>00101   <a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>[1] = address;
<a name="l00102"></a>00102   <a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>[2] = <a class="code" href="group__mshid.html#ga726f270396d84cc2a0dcea83cdafd58c">MSHID_KEYBMOD</a>;
<a name="l00103"></a>00103   <a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>[3] = modifier;
<a name="l00104"></a>00104   <a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>[4] = keybdata;
<a name="l00105"></a>00105 
<a name="l00106"></a>00106   <span class="keywordflow">return</span> <a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__mshid.html#ga37279c8e12cf3d6ca87fa0c8df15fc4e">MSHID_I2CRequest</a>);
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108 
<a name="l00109"></a>00109 <span class="comment"></span>
<a name="l00110"></a>00110 <span class="comment">/**</span>
<a name="l00111"></a>00111 <span class="comment"> * Send a string to the computer.  Can be up to 19 characters long.&lt;br&gt;</span>
<a name="l00112"></a>00112 <span class="comment"> * It recognises the following escaped keys:&lt;br&gt;</span>
<a name="l00113"></a>00113 <span class="comment"> * - \n: new line</span>
<a name="l00114"></a>00114 <span class="comment"> * - \r: carriage return</span>
<a name="l00115"></a>00115 <span class="comment"> * - \t: tab</span>
<a name="l00116"></a>00116 <span class="comment"> * - \\: a backslash</span>
<a name="l00117"></a>00117 <span class="comment"> * - \&quot;: double quote</span>
<a name="l00118"></a>00118 <span class="comment"> * @param link the HID port number</span>
<a name="l00119"></a>00119 <span class="comment"> * @param data the string to be transmitted</span>
<a name="l00120"></a>00120 <span class="comment"> * @param address the I2C address to use, optional, defaults to 0x04</span>
<a name="l00121"></a>00121 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00122"></a>00122 <span class="comment"> */</span>
<a name="l00123"></a><a class="code" href="group__mshid.html#gae9af2d42a0ab943ac86d33d8fa2d7a54">00123</a> <span class="keywordtype">bool</span> <a class="code" href="group__mshid.html#gae9af2d42a0ab943ac86d33d8fa2d7a54">MSHIDsendString</a>(tSensors link, <span class="keywordtype">string</span> data, ubyte address) {
<a name="l00124"></a>00124   byte buffer[19];
<a name="l00125"></a>00125   <span class="keywordtype">int</span> len = strlen(data);
<a name="l00126"></a>00126   <span class="keywordflow">if</span> (len &lt; 20) {
<a name="l00127"></a>00127     memcpy(buffer, data, len);
<a name="l00128"></a>00128   } <span class="keywordflow">else</span> {
<a name="l00129"></a>00129     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00130"></a>00130   }
<a name="l00131"></a>00131 
<a name="l00132"></a>00132   <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; len; i++) {
<a name="l00133"></a>00133                 <span class="keywordflow">if</span> (buffer[i] == 0x5C &amp;&amp; i &lt; (len - 1)) {
<a name="l00134"></a>00134                   <span class="keywordflow">switch</span> (buffer[i+1]) {
<a name="l00135"></a>00135         <span class="keywordflow">case</span> <span class="charliteral">&#39;r&#39;</span>:
<a name="l00136"></a>00136                                         <span class="keywordflow">if</span> (!<a class="code" href="group__mshid.html#gab08f31e26bb6385ceb436170f2e30acf">MSHIDsendKeyboardData</a>(link, <a class="code" href="group__mshid.html#ga34d9dcb4b949ae33f42cbb1c90b55057">MSHID_MOD_NONE</a>, 0x0A))
<a name="l00137"></a>00137                                           <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00138"></a>00138                                         <span class="keywordflow">break</span>;
<a name="l00139"></a>00139         <span class="keywordflow">case</span> <span class="charliteral">&#39;n&#39;</span>:
<a name="l00140"></a>00140                                         <span class="keywordflow">if</span> (!<a class="code" href="group__mshid.html#gab08f31e26bb6385ceb436170f2e30acf">MSHIDsendKeyboardData</a>(link, <a class="code" href="group__mshid.html#ga34d9dcb4b949ae33f42cbb1c90b55057">MSHID_MOD_NONE</a>, 0x0D))
<a name="l00141"></a>00141                                           <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00142"></a>00142                                         <span class="keywordflow">break</span>;
<a name="l00143"></a>00143                                 <span class="keywordflow">case</span> <span class="charliteral">&#39;t&#39;</span>:
<a name="l00144"></a>00144                                         <span class="keywordflow">if</span> (!<a class="code" href="group__mshid.html#gab08f31e26bb6385ceb436170f2e30acf">MSHIDsendKeyboardData</a>(link, <a class="code" href="group__mshid.html#ga34d9dcb4b949ae33f42cbb1c90b55057">MSHID_MOD_NONE</a>, 0x09))
<a name="l00145"></a>00145                                           <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00146"></a>00146                                         <span class="keywordflow">break</span>;
<a name="l00147"></a>00147                                 <span class="keywordflow">case</span> 0x5C:
<a name="l00148"></a>00148                                         <span class="keywordflow">if</span> (!<a class="code" href="group__mshid.html#gab08f31e26bb6385ceb436170f2e30acf">MSHIDsendKeyboardData</a>(link, <a class="code" href="group__mshid.html#ga34d9dcb4b949ae33f42cbb1c90b55057">MSHID_MOD_NONE</a>, 0x5C))
<a name="l00149"></a>00149                                           <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00150"></a>00150                                         <span class="keywordflow">break</span>;
<a name="l00151"></a>00151                                 <span class="keywordflow">case</span> 0x22:
<a name="l00152"></a>00152                                         <span class="keywordflow">if</span> (!<a class="code" href="group__mshid.html#gab08f31e26bb6385ceb436170f2e30acf">MSHIDsendKeyboardData</a>(link, <a class="code" href="group__mshid.html#ga34d9dcb4b949ae33f42cbb1c90b55057">MSHID_MOD_NONE</a>, 0x22))
<a name="l00153"></a>00153                                           <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00154"></a>00154                                         <span class="keywordflow">break</span>;
<a name="l00155"></a>00155         <span class="keywordflow">default</span>:
<a name="l00156"></a>00156                                         <span class="keywordflow">break</span>;
<a name="l00157"></a>00157                         }
<a name="l00158"></a>00158                         i++;
<a name="l00159"></a>00159                 } <span class="keywordflow">else</span> {
<a name="l00160"></a>00160                         <span class="keywordflow">if</span> (!<a class="code" href="group__mshid.html#gab08f31e26bb6385ceb436170f2e30acf">MSHIDsendKeyboardData</a>(link, <a class="code" href="group__mshid.html#ga34d9dcb4b949ae33f42cbb1c90b55057">MSHID_MOD_NONE</a>, buffer[i]))
<a name="l00161"></a>00161                           <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00162"></a>00162           }
<a name="l00163"></a>00163                 <span class="keywordflow">if</span> (!<a class="code" href="group__mshid.html#ga2d3259d4adcae2db488e16f094901ec3">MSHIDsendCommand</a>(link, <a class="code" href="group__mshid.html#gaf515c73ab7fbc1b10d63e029cc007618">MSHID_XMIT</a>))
<a name="l00164"></a>00164                   <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00165"></a>00165     wait1Msec(50);
<a name="l00166"></a>00166   }
<a name="l00167"></a>00167   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00168"></a>00168 }
<a name="l00169"></a>00169 
<a name="l00170"></a>00170 <span class="preprocessor">#endif // __MSHID_H__</span>
<a name="l00171"></a>00171 <span class="preprocessor"></span>
<a name="l00172"></a>00172 <span class="comment">/*</span>
<a name="l00173"></a>00173 <span class="comment"> * $Id: mindsensors-hid.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00174"></a>00174 <span class="comment"> */</span>
<a name="l00175"></a>00175 <span class="comment">/* @} */</span>
<a name="l00176"></a>00176 <span class="comment">/* @} */</span>
</pre></div></div>
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